One-Shot 3D-Printed Multimaterial Soft Robotic Jamming Grippers

被引:32
作者
Howard, Gerard David [1 ]
Brett, James [1 ]
O'Connor, Jack [1 ,2 ]
Letchford, Jordan [1 ,3 ]
Delaney, Gary W. [4 ]
机构
[1] Commonwealth Sci & Ind Res Org CSIRO, Robot & Autonomous Syst Grp, Brisbane, Qld, Australia
[2] Univ Queensland, Sch Mech & Min, Brisbane, Qld, Australia
[3] Queensland Univ Technol, Sch Elect Engn & Robot, Brisbane, Qld, Australia
[4] Commonwealth Sci & Ind Res Org CSIRO, Computat Modelling Grp, Melbourne, Vic, Australia
关键词
granular jamming; soft robotics; 3D printing; multimaterial; soft gripper; soft actuator; design exploration; MORPHOLOGICAL COMPUTATION; FABRICATION; DESIGN; FEET;
D O I
10.1089/soro.2020.0154
中图分类号
TP24 [机器人技术];
学科分类号
080202 ; 1405 ;
摘要
Soft gripping provides the potential for high performance in challenging tasks through morphological computing; however, design explorations are limited by a combination of a difficulty in generating useful models and use of laborious fabrication techniques. We focus on a class of grippers based on granular jamming that are particularly difficult to model and introduce a "one shot" technique that exploits multimaterial three-dimensional (3D) printing to create entire grippers, including membrane and grains, in a single print run. This technique fully supports the de facto physical generate-and-test methodology used for this class of grippers, as entire design iterations can be fitted onto a single print bed and fabricated from Computer-Aided Design (CAD) files in a matter of hours. Initial results demonstrate the approach by rapidly prototyping in materio solutions for two challenging problems in unconventional design spaces; a twisting gripper that uses programmed deformations to reliably pick a coin, and a multifunctional legged robot paw that offers the ability for compliant locomotion over rough terrains, as well as being able to pick objects in cluttered natural environments. The technique also allows us to easily characterize the design space of multimaterial printed jamming grippers and provide some useful design rules. The simplicity of our technique encourages and facilitates creativity and innovation. As such, we see our approach as an enabling tool to make informed principled forays into unconventional design spaces and support the creation of a new breed of novel soft actuators.
引用
收藏
页码:497 / 508
页数:12
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